SemiAutonomous Submersible Robot for Underwater Research

this is a submersible robot (a little submarine) that can be operated in manual or semi-autonomous mode.

FOR DESCRIPTION OF WHAT ALL THE FILES ARE, GO TO THE LAST STEP

Step 1: Circuit Diagram

TO BE ABLE TO READ THE DIAGRAM, CLICK HERE:
https://static2.instructables.com/ID/F7S/YPXY/Q6SEP27UXHB/4AA2923407121029853F001143E7E506.gif

the rest of the pictures show the construction of the sub. It was made out of two C channels connected by an aluminum sheet. A skid was added to the bottom to allow the sub to skate over the bottom to gather quantitative video samples of the ecology. The skid and two C channels (necessary to hold the large # of sensors desired) was a little heavy so the sub had trouble moving up and down using it's one vertical motor (although there is a fourth small motor in the diagram, we never added that). You should definately be able to make the body a lot lighter so that a single vertical trolling motor will be fine.

Step 2: Code and Documentation, Etc.

TO BE ABLE TO READ THE DIAGRAM, CLICK HERE:
https://static2.instructables.com/ID/F7S/YPXY/Q6SEP27UXHB/4AA2923407121029853F001143E7E506.gif

--SmartConsole.bas is a QBasic program that runs in DOS or win3.1 It's an interface that takes data from the subs sensors and displays them graphically on the screen (tilt, yaw, etc)

--SmartSea.bsx is a basic program that runs on the BSX basic stamp (while building the thing I used a BSX, I put another basic stamp in the diagram because the bsx had one too few pin for sensor interfaces)

--BS1_BOBIII is code interfacing the BS1 with the bobIII video overlay chip

--Purchase lists show everything you need to make this.

--The tutorial talks about how to use everything if you somehow make the exact same thing as I do.

--The final paper talks about why I picked certain parts, overview, etc.